Unmanned System Design with Emphasis on Fire Recognition

摘要

Governments around the world are beginning to recognize the value of unmannedrnmachines both in industry and in warfare. Heightened interest in this field has spawnedrnrobot competitions such as FIRST, TAVIS, MicroMouse and others. This paper describesrnthe University of Central Florida's entry to the AUVSI Aerial Robotics Competition Wernpresent a novel four-engine air vehicle design that uses no control surfaces. Based on thernHiller Flying Platform [1] and the DragonflyerTM [2], this ducted vehicle varies its enginernspeeds to affect pitch, roll, yaw, and overall thrust The ground vehicle mechanical designrnis documented in section 3, including finite element models of two key parts. The focusrnof this paper is automatic fire detection in video images. Our system uses color andrnmotion information gained from video sequences to locate fire. Unlike previous methods,rnour algorithm is insensitive to camera motion.